w# {2 ]% R+ t6 . O) l7 E
1:L P[1] 100mm/secCNT50
* H; o/ Y/ X; H
2: L P[2]100mm/sec CNT50
- i5 a" u7 b+ W5x" K9 ]
3: LBL[1]
1 ^$ Y: g, e; a: j
4: L P[3] 50mm/secFINE
: e9 S" ?5 p3 ]6 b%Y6 h9 h
5: PALLETIZING-B_1 //抓取零件的码垛指令//
6: J PAL_1[A_1]30% FINE
5 S r4 A6 g.Y4 x7 q! i
7: J PAL_1[BTM]10% FINE
8: DO[4:ON:SUCTION]=ON //气缸吸气,抓取工件//
% e, l2 o7 b' L% a5 F% e7A8 P
9:WAIT 1.50(sec)
3 C* O: u/ Y0 j& ~%`' z
10: J PAL_1[R_1]30% FINE
) q$ ?& L6 ^* L7 M
11:PALLETIZING-END_1
12: J P[4] 80%FINE
13: J P[5] 80%FINE
2 u* T/ z& M3 C8 C
14: J P[6] 50%FINE
+ X7 c; c/ U, C8 j) v
15: PALLETIZING-B_2 //放置零件的码垛指令//
( p" q/ N' }$ f
16: J PAL_2[A_1]30% FINE
& f6 F6 ~0 b! m0 H-]# M
17: J PAL_2[BTM]10% FINE
7 D1 n k+ k;?8 v1 R* q+ C/ x
18: DO[4:ON:SUCTION]=OFF //气缸停止吸气,放置工件//
4 q( U" L8 G; n( B0E9 y
19:WAIT 1.50(sec)
20: J PAL_2[R_1]30% FINE
21:PALLETIZING-END_2
22: J P[7] 100%FINE
6 f. c$ s; X6 J( O% [% G8C
23: JMP LBL[1]
; o" x: ^: ^! I' e.{- x7 r, f" V
[End]
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